Title :
Output feedback controller design of a unicycle-type mobile robot with delayed measurements [Brief Paper]
Author :
Guechi, E.-H. ; Lauber, Jimmy ; Dambrine, Michel ; Defoort, M.
Author_Institution :
UVHC-LAMIH, Univ. Lille Nord de France Le Mont Houy, Valenciennes, France
Abstract :
This study deals with the trajectory tracking controller design of a wheeled mobile robot subject to delayed measurements. Using the flatness properties of the unicycle-type mobile robot, an output feedback approach based on a non-linear predictor to estimate the state variables is proposed. It enables one to guarantee the exponential stability of the tracking errors. A finite-time observer based on sliding mode theory is applied for the estimation of the delay whose value is assumed to be constant but unknown. The stability property of the closed-loop system with delayed outputs is studied using the Lyapunov theory. Numerical simulations in a realistic environment show the efficiency of the proposed approach.
Keywords :
asymptotic stability; closed loop systems; control system synthesis; feedback; mobile robots; observers; tracking; variable structure systems; Lyapunov theory; closed-loop system; delayed measurements; exponential stability; finite-time observer; flatness properties; nonlinear predictor; output feedback approach; output feedback controller design; sliding mode theory; tracking errors; trajectory tracking controller design; unicycle-type mobile robot; wheeled mobile robot;
Journal_Title :
Control Theory & Applications, IET
DOI :
10.1049/iet-cta.2010.0591